IAI PSEL, Руководство по эксплуатации

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[1
1] Actuator
Control
Declaration
294
z
ACC (Set acceleration)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ACC Acceleration Prohibited CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Set the acceleration for actuator operation in operand 1.
For SCARA robot, the setting is the operational acceleration speed for CP
operation.
The unit of operand 1 is [G], and the set value is effective to two decimal points.
(Note) [Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD and MSEL-PCX/PGX]
If no acceleration is set in the position data or by an ACC command when the
actuator moves, the actuator uses the default value registered in all-axis
parameter No. 11, “Default acceleration”.
[XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD and MSEL-PCX/PGX]
If no acceleration is set in the position data or by an ACC command during CP
operation, a SCARA robot uses the default value registered in all-axis parameter
No. 11, “Default CP acceleration for SCARA axis”, while a linear axis uses the
default value registered in all-axis parameter No. 200, “Default acceleration for
linear axis”.
[Example 1] ACC 0.3 Set the acceleration to 0.3G.
(Note) Setting an acceleration exceeding the specified range for the actuator may
generate an error. It may also result in a failure or shorter product life.